void VigirRobotRBDLModel::updateKinematics() { UpdateKinematicsCustom (my_rbdl_->rbdl_model_, &(my_rbdl_->Q_), &(my_rbdl_->QDot_), NULL); b_positions_up_to_date_ = true; b_kinematics_up_to_date_ = true; }
void unigripper_motoman_plant_t::propagate(const double simulation_step) { integrator->integrate(derivative_function, simulation_step); UpdateKinematicsCustom(model, &Q, NULL, NULL); }